/*
 * @Description: 里程计信息订阅
 * @Author: Sang Hao
 * @Date: 2021-09-15 17:12:01
 * @LastEditTime: 2021-10-27 13:37:58
 * @LastEditors: Sang Hao
 */
#ifndef LIDAR_SLAM_SUBSCRIBER_ODEMETRY_SUBSCREBER_HPP_
#define LIDAR_SLAM_SUBSCRIBER_ODEMETRY_SUBSCREBER_HPP_

#include <deque>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>

#include "lidar_slam/sensor_data/pose_data.hpp"

namespace lidar_slam {
class OdometrySubscriber {
private:
	/* data */
	ros::NodeHandle nh_;
	ros::Subscriber subscriber_;
	std::deque<PoseData> new_pose_data_;

private:
	void msg_callback(const nav_msgs::OdometryConstPtr& odom_msg_ptr);

public:
	OdometrySubscriber(ros::NodeHandle& nh, std::string topic_name, size_t buff_size);
	OdometrySubscriber(/* args */) = default;
	void ParseData(std::deque<PoseData>& deque_pose_data);
};
}

#endif